The HapticMASTER is a 3 degrees of freedom, force-controlled haptic interface.

It provides the user with a crisp haptic sensation and the power to closely simulate the weight and force found in a wide variety of human tasks.

The programmable robot arm utilizes the admittance control (force control) paradigm, giving the device unique haptic specifications.

General

Control type: Admittance (force control)
Active degrees of freedom: 3 (x,y,z)
Power requirement: 500 [W]
Voltage requirement: 90-264 [VAC]
Console height: 0.8 [m] 31.5 [in]

Haptic

Position resolution: < 4 X 10-6 [m] < 1.6 X 10-3 [in]
Force sensitivity: < 0.01 [N] < 2.25 X 10-3 [lbf]
Nominal output force: 100 [N] 22.5 [lbf]
Maximum output force: 250 [N] 56.2 [lbf]
Simulated equivalent inertia: 2 - oo [kg] 4.4 - oo [lb]
Maximum simulated stiffness: 5 X 104 [N/m] 285.5 [lbf/in]
Maximum velocity: 1.0 [m/s] 39.4 [in/s]
Maximum deceleration: 50 [m/s2] 39.4 [in/s]

© FCS Control Systems B.V.  2004

The HapticMASTER can be equipped with different end effectors, facilitating different applications.

Standard end effector

The passive end effector comprises a simple bal grip (figure). At the base of the grip a push button is placed which can be connected to software applications. The standard end effector comes with the HapticMASTER.

Equipped with a universal clamp, this end effector can be used for applications requiring the measurement of 3 additional degrees of freedom.

All 3 rotational axes intersect in one point, also the location of the instrument tip. This provides the user with a natural and realistic simulation of the real-world usage of the instrument.

Gearshift end effector

The figure below shows the gearshift end effector. It is an example of a custom-built end effector for a specific application.

In fact, any self-made end effector below 3 kg can be mounted at the end of the HapticMASTER robot arm. Think of your real-world tools, where the HapticMASTER is used to simulate the forces between the tool tip and the environment.